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mavlink_msg_mid_lvl_cmds.h
1#pragma once
2// MESSAGE MID_LVL_CMDS PACKING
3
4#define MAVLINK_MSG_ID_MID_LVL_CMDS 180
5
6MAVPACKED(
7typedef struct __mavlink_mid_lvl_cmds_t {
8 float hCommand; /*< Commanded Altitude in meters*/
9 float uCommand; /*< Commanded Airspeed in m/s*/
10 float rCommand; /*< Commanded Turnrate in rad/s*/
11 uint8_t target; /*< The system setting the commands*/
12}) mavlink_mid_lvl_cmds_t;
13
14#define MAVLINK_MSG_ID_MID_LVL_CMDS_LEN 13
15#define MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN 13
16#define MAVLINK_MSG_ID_180_LEN 13
17#define MAVLINK_MSG_ID_180_MIN_LEN 13
18
19#define MAVLINK_MSG_ID_MID_LVL_CMDS_CRC 146
20#define MAVLINK_MSG_ID_180_CRC 146
21
22
23
24#if MAVLINK_COMMAND_24BIT
25#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \
26 180, \
27 "MID_LVL_CMDS", \
28 4, \
29 { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mid_lvl_cmds_t, target) }, \
30 { "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \
31 { "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \
32 { "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \
33 } \
34}
35#else
36#define MAVLINK_MESSAGE_INFO_MID_LVL_CMDS { \
37 "MID_LVL_CMDS", \
38 4, \
39 { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mid_lvl_cmds_t, target) }, \
40 { "hCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mid_lvl_cmds_t, hCommand) }, \
41 { "uCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mid_lvl_cmds_t, uCommand) }, \
42 { "rCommand", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mid_lvl_cmds_t, rCommand) }, \
43 } \
44}
45#endif
46
59static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
60 uint8_t target, float hCommand, float uCommand, float rCommand)
61{
62#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
63 char buf[MAVLINK_MSG_ID_MID_LVL_CMDS_LEN];
64 _mav_put_float(buf, 0, hCommand);
65 _mav_put_float(buf, 4, uCommand);
66 _mav_put_float(buf, 8, rCommand);
67 _mav_put_uint8_t(buf, 12, target);
68
69 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
70#else
71 mavlink_mid_lvl_cmds_t packet;
72 packet.hCommand = hCommand;
73 packet.uCommand = uCommand;
74 packet.rCommand = rCommand;
75 packet.target = target;
76
77 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
78#endif
79
80 msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
81 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
82}
83
96static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
97 mavlink_message_t* msg,
98 uint8_t target,float hCommand,float uCommand,float rCommand)
99{
100#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
101 char buf[MAVLINK_MSG_ID_MID_LVL_CMDS_LEN];
102 _mav_put_float(buf, 0, hCommand);
103 _mav_put_float(buf, 4, uCommand);
104 _mav_put_float(buf, 8, rCommand);
105 _mav_put_uint8_t(buf, 12, target);
106
107 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
108#else
109 mavlink_mid_lvl_cmds_t packet;
110 packet.hCommand = hCommand;
111 packet.uCommand = uCommand;
112 packet.rCommand = rCommand;
113 packet.target = target;
114
115 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
116#endif
117
118 msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
119 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
120}
121
130static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
131{
132 return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
133}
134
144static inline uint16_t mavlink_msg_mid_lvl_cmds_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
145{
146 return mavlink_msg_mid_lvl_cmds_pack_chan(system_id, component_id, chan, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
147}
148
158#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
159
160static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
161{
162#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
163 char buf[MAVLINK_MSG_ID_MID_LVL_CMDS_LEN];
164 _mav_put_float(buf, 0, hCommand);
165 _mav_put_float(buf, 4, uCommand);
166 _mav_put_float(buf, 8, rCommand);
167 _mav_put_uint8_t(buf, 12, target);
168
169 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
170#else
171 mavlink_mid_lvl_cmds_t packet;
172 packet.hCommand = hCommand;
173 packet.uCommand = uCommand;
174 packet.rCommand = rCommand;
175 packet.target = target;
176
177 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)&packet, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
178#endif
179}
180
186static inline void mavlink_msg_mid_lvl_cmds_send_struct(mavlink_channel_t chan, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
187{
188#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
189 mavlink_msg_mid_lvl_cmds_send(chan, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
190#else
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)mid_lvl_cmds, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
192#endif
193}
194
195#if MAVLINK_MSG_ID_MID_LVL_CMDS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
196/*
197 This varient of _send() can be used to save stack space by re-using
198 memory from the receive buffer. The caller provides a
199 mavlink_message_t which is the size of a full mavlink message. This
200 is usually the receive buffer for the channel, and allows a reply to an
201 incoming message with minimum stack space usage.
202 */
203static inline void mavlink_msg_mid_lvl_cmds_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
204{
205#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
206 char *buf = (char *)msgbuf;
207 _mav_put_float(buf, 0, hCommand);
208 _mav_put_float(buf, 4, uCommand);
209 _mav_put_float(buf, 8, rCommand);
210 _mav_put_uint8_t(buf, 12, target);
211
212 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, buf, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
213#else
214 mavlink_mid_lvl_cmds_t *packet = (mavlink_mid_lvl_cmds_t *)msgbuf;
215 packet->hCommand = hCommand;
216 packet->uCommand = uCommand;
217 packet->rCommand = rCommand;
218 packet->target = target;
219
220 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MID_LVL_CMDS, (const char *)packet, MAVLINK_MSG_ID_MID_LVL_CMDS_MIN_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN, MAVLINK_MSG_ID_MID_LVL_CMDS_CRC);
221#endif
222}
223#endif
224
225#endif
226
227// MESSAGE MID_LVL_CMDS UNPACKING
228
229
235static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg)
236{
237 return _MAV_RETURN_uint8_t(msg, 12);
238}
239
245static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg)
246{
247 return _MAV_RETURN_float(msg, 0);
248}
249
255static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_t* msg)
256{
257 return _MAV_RETURN_float(msg, 4);
258}
259
265static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_t* msg)
266{
267 return _MAV_RETURN_float(msg, 8);
268}
269
276static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
277{
278#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
279 mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg);
280 mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg);
281 mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg);
282 mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg);
283#else
284 uint8_t len = msg->len < MAVLINK_MSG_ID_MID_LVL_CMDS_LEN? msg->len : MAVLINK_MSG_ID_MID_LVL_CMDS_LEN;
285 memset(mid_lvl_cmds, 0, MAVLINK_MSG_ID_MID_LVL_CMDS_LEN);
286 memcpy(mid_lvl_cmds, _MAV_PAYLOAD(msg), len);
287#endif
288}
制作者 doxygen 1.11.0